WO2018120542A1

WO2018120542A1 - Transmission reduction device

Info

Publication number: WO2018120542A1
Application number: PCT/CN2017/082101
Authority: WO
Inventors: 邓星桥; 张攀; 江源渊; 冯志鹏; 李双岑; 孔繁星
Original assignee: 成都中良川工科技有限公司
Priority date: 2016-12-29
Filing date: 2017-04-27
Publication date: 2018-07-05
Also published as: DE112017008355B3; DE112017006668T5; CN106499775B; CN106499775A; DE112017006668B4; CN110139999A; CN110139999B

Abstract

A transmission reduction device comprising, disposed in a housing (2), a worm assembly (1), a worm gear assembly (3), and an output shaft (4); an input shaft (11) is further disposed on the worm assembly (1); and a plurality of worm gear teeth on the worm gear assembly (3) are embedded in a groove and can be driven by the worm assembly (1) to move in the groove along the groove direction and drive the worm gear assembly (3) to rotate. The transmission reduction device is compact in structure, large in transmission ratio, high in precision, and low in frictional wear.

Description

Transmission reduction device

Technical field

The invention belongs to the technical field of mechanical engineering, and relates to a transmission device, in particular to a transmission reduction device suitable for an industrial robot.

Background technique

The transmission reduction gear is a key component of the industrial robot. It is mainly used to match the speed and transmit torque between the drive mechanism and the actuator, thereby achieving the purpose of reducing the speed and increasing the torque. At present, in the field of industrial robot technology, the transmission reduction gears frequently used include worm gear reducers, harmonic reducers and planetary reducers. However, the worm gear reducer has a cumbersome structure, low transmission efficiency, poor precision, and different input and output axes, and poor running stability; the core component of the harmonic reducer produces periodic deformation during operation, which is prone to fatigue damage. The impact resistance and rigidity of the whole machine are poor, and the input speed is limited. Although the planetary reducer has excellent overall performance, it can meet the equipment operation requirements, but the requirements for component raw material selection, manufacturing process and processing precision are very high. The equipment is expensive.

Summary of the invention

The object of the present invention is to overcome the defects of the prior art and provide a high-precision, large-transmission ratio transmission reduction device, which has the characteristics of compact structure, small appearance, low wear resistance, strong carrying capacity, simple manufacturing process, and low price. It is suitable for occasions such as precision heavy load and large transmission ratio of industrial robots.

In order to achieve the above object, the present invention adopts the following technical solutions:

A transmission reduction device includes a worm assembly, a worm gear assembly and an output shaft disposed in a casing, and the worm assembly is further provided with an input shaft. A plurality of worm gear teeth on the worm gear assembly are embedded in the groove, and the worm gear teeth are movable in the groove direction in the groove and drive the worm gear assembly to rotate under the driving of the worm assembly.

Further, the groove is a closed structure formed by the spiral groove provided on the outer surface of the worm wheel assembly and the guide groove disposed inside.

Further, the worm gear teeth are spherical or approximately spherical.

Further, the plurality of worm gear teeth are arranged in series in the groove to cover all the grooves.

Further, the worm gear assembly is composed of an approximately hemispherical lower worm gear body and an upper worm gear body; the lower worm gear body and the upper worm gear body are each provided with a groove.

Further, the worm assembly includes an input shaft, a lower housing, an upper housing, and a first worm tooth, the lower housing and the upper housing are both approximately hemispherical, and are put together to form an approximately spherical shape accommodating the worm gear assembly. The spherical cavity, the inner side of the lower casing and the upper casing are provided with first worm teeth for use with the worm gear assembly, the first worm teeth being helical teeth.

Further, the lower worm wheel body and the upper worm wheel body are further provided with a worm gear tooth body, which is used for assembling the worm gear teeth in the groove of the lower worm wheel body and the upper worm wheel body when assembling or repairing the factory.

The invention provides a transmission reduction device with compact structure, large transmission ratio, high precision, small friction and wear, easy industrial production and manufacture, and low price, and is suitable for precision of industrial transmission joints and the like with large transmission ratio requirements and volume restrictions. Heavy-duty drive applications.

DRAWINGS

1 is a cross-sectional view showing the overall structure of a transmission reduction device according to the present invention;

2 is a cross-sectional view showing another overall structure of a transmission reduction device according to the present invention;

3 is a schematic view showing the overall structure of a transmission reduction device according to the present invention;

Figure 4 is a plan view of a transmission reduction device of the present invention;

Figure 5 is a cross-sectional view showing a worm assembly of a transmission reduction device of the present invention;

Figure 6 is a cross-sectional view showing a worm tooth of a transmission reduction device according to the present invention;

Figure 7 is a cross-sectional view showing a casing of a transmission reduction gear according to the present invention;

8 is a schematic view showing the overall structure of a worm gear assembly of a transmission reduction device according to the present invention;

Figure 9 is a cross-sectional view showing a worm gear assembly of a transmission reduction device of the present invention;

Figure 10 is another cross-sectional view of a worm gear assembly of a transmission reduction device of the present invention;

Figure 11 is a plan view of a worm gear assembly of a transmission reduction device of the present invention;

12 is a schematic view showing the overall structure of a worm gear tooth mounting body of a transmission reduction device according to the present invention;

Figure 13 is a schematic view showing the overall structure of a turntable assembly of a transmission reduction device according to the present invention;

Figure 14 is a front elevational view of the turntable assembly of a transmission reduction device of the present invention;

15 is a schematic view showing the overall structure of an output shaft mounting plate assembly of a transmission reduction device according to the present invention;

Figure 16 is a schematic view showing the overall structure of a chassis assembly of a transmission reduction device according to the present invention;

Figure 17 is a schematic view showing the structure of an output shaft of a transmission reduction device according to the present invention.

Reference numerals: 1 is a worm assembly, 11 is an input shaft, 12 is a lower casing, 13 is a first bolt, 14 is an upper casing, 15 is a first worm tooth, 16 is a spherical cavity, and 17 is a worm base. 18 is a bolt hole;

2 is the box body, 21 is the first thrust bearing, 22 is the first angular contact ball bearing, 23 is the lower base, 24 is the second bolt, 25 is the middle base, 26 is the upper base, 27 is the first upper Bearing, 28 is the second upper bearing;

3 is the worm gear assembly, 31 is the lower worm gear body, 32 is the middle slewing body, 33 is the upper worm gear body, 34 is the first worm gear tooth, 35 is the third bolt, 36 is the rotary shaft, 37 is the hexagon socket bolt, 38 is the first Four bolts, 39 is the worm gear tooth body;

4 is the output shaft;

5 is a turntable assembly, 51 is a lower turntable, 52 is a second worm gear tooth, 53 is an upper turntable, 54 is a sixth bolt, and 55 is a through hole;

6 is the output shaft mounting assembly, 61 is the output mounting plate, 62 is the deep groove ball bearing, and 63 is the second angular contact ball bearing;

7 is the chassis assembly, 71 is the chassis, 72 is the seventh bolt, and 73 is the second thrust bearing.

detailed description

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A specific embodiment of a transmission reduction device of the present invention will be further described below with reference to the embodiments shown in Figs. A transmission reduction device of the present invention is not limited to the description of the following embodiments.

As shown in FIGS. 1 to 4, the present invention provides a transmission reduction device including a worm assembly 1, a casing 2, a worm gear assembly 3, an output shaft 4, a turntable assembly 5, an output shaft mounting assembly 6, and a chassis assembly 7. The transmission reduction gear unit is substantially cylindrical in shape, and the output shaft 4 and the input shaft 11 of the worm assembly 1 are vertically located above and below the transmission reduction device, and coincide with the axis of the transmission reduction device.

As shown in FIGS. 5 to 6, the worm assembly 1 includes an input shaft 11, a lower housing 12, a first bolt 13, an upper housing 14, and a first worm tooth 15. The lower casing 12 and the upper casing 14 are both approximately hemispherical and are put together to form an approximately spherical spherical cavity 16 accommodating the worm gear assembly 3; the upper portion of the spherical cavity 16 is open, and the lower portion is formed by a disc shape. The worm base 17 is closed, and an input shaft 11 is disposed below the worm base 17. The axes of the lower casing 12, the upper casing 14, the spherical cavity 16, the worm base 17, and the input shaft 11 coincide. The inner sides of the lower casing 12 and the upper casing 14 are provided with first worm teeth 15 for use with the worm gear assembly 3, and the first worm teeth 15 are helical teeth. Preferably, the lower casing 12 and the upper casing 14 fix the first worm teeth 15 inside the lower casing 12 and the upper casing 14 by a plurality of first bolts 13. The advantage of this is that after the first worm tooth 15 is independently processed to obtain the tooth shape, the upper case 14 and the lower case 12 and the first worm tooth 15 are combined and fixed by the bolt hole 18 by means of the first bolt 13 , which can be overcome. The spiral first worm tooth 15 is located in the difficulty of integrally forming the spherical cavity 16 and the machining precision of the first worm tooth 15 is effectively improved.

As shown in FIG. 7, the casing 2 is substantially cylindrical in shape, and is composed of a disc-shaped lower base 23, an upper base 26, and a cylindrical intermediate base 25 through a plurality of second bolts 24. The connection is fixed. The lower base 23 is centrally provided with a downwardly concave circular table. The inside of the circular table is provided with a first thrust bearing 21 for supporting the worm base 17 of the worm assembly 1; the circular table is also centrally provided with a first angular contact ball bearing 22, An input shaft 11 for supporting the worm assembly 1. The upper base 26 is centrally provided with a first upper bearing 27 for supporting the output shaft 4; The upper base 26 is further provided with three circumferentially evenly distributed second upper bearings 28 for supporting the upper ends of the rotary shafts 36 of the three worm gear assemblies 3. After the assembly of the device as a whole is completed, only the output shaft 4 and the input shaft 11 of the worm assembly 1 vertically protrude from above and below the casing 2, and other components are mounted inside the casing 2. By adopting the cylindrical box 2, and the power input and output directions coincide with the geometric axis direction of the device, and the design of the geometric axis coincides with the center of gravity, the overall structure of the device is compact and stable, and the operation is stable.

As shown in FIGS. 8 to 12, the worm wheel assembly 3 is assembled into an approximately spherical shape by an approximately hemispherical lower worm wheel body 31 and an upper worm gear body 33, and a disk shape is provided between the lower worm wheel body 31 and the upper worm wheel body 33. The middle slewing body 32 is provided with a rotary shaft 36 in the axial direction, and the lower end and the upper end of the rotary shaft 36 respectively extend from the lower and upper portions of the approximately spherical shape in the axial direction. The lower worm gear body 31 and the upper worm gear body 33 are each provided with a circulating groove; specifically, the groove of the lower worm wheel body 31 is composed of a spiral groove disposed on the outer surface and a guide groove disposed inside the first and last phases. In turn, the groove is covered with a spherical first worm gear 34, and the first worm gear 34 can reciprocate in the groove; the groove structure of the upper worm body 33 is similar to that of the lower worm gear 31. As a specific embodiment, the upper worm wheel body 33 is connected to the middle slewing body 32 by a hexagon socket bolt 37, and the middle slewing body 32 is connected to the lower worm wheel body 31 via the fifth bolt 30. As another specific embodiment, the rotary shaft 36 may be of a separate structure and designed as a separate component; a split structure may also be employed. When the split structure is adopted, the upper portion of the rotary shaft 36 is mounted above the upper worm gear body 33 by a plurality of third bolts 35. The lower portion of the rotary shaft 36 may be the same as the upper portion or may be integrally formed with the lower worm gear body 31. . The middle slewing body 32 is circumferentially evenly provided with smooth grooves for use with the turret assembly 5. The lower worm gear body 31 and the upper worm gear body 33 are further provided with a worm gear tooth body 39 for mounting the first worm gear teeth 34 in the grooves of the lower worm gear body 31 and the upper worm gear body 33 during factory assembly or inspection. As shown in FIG. 9, the lower worm wheel body 31 is provided with a mounting groove for use with the worm gear tooth body 39, and the mounting groove is in communication with the groove of the lower worm wheel body 31; The first worm gear 34 is mounted in the groove of the lower worm wheel body 31, and then the worm gear tooth body 39 is inserted into the mounting groove. The closing of the groove is achieved, and finally the fixing between the worm gear housing 39 and the mounting groove is achieved by means of a plurality of fourth bolts 38; the embodiment of the upper worm gear 33 is similar.

The three worm gear assemblies 3 and the worm assembly 1 of the present invention adopt a similar tooth difference engagement mode to realize a large gear ratio output. The tooth surface of the first worm tooth 15 is enveloped by a ball and adopts an internal meshing manner. The first worm gear tooth 34 adopts a rotating spherical shape and reciprocates along the groove of the lower worm wheel body 31 and the upper worm wheel body 33. The rolling engagement motion converts the sliding friction between the worm wheel and the worm into rolling friction, thereby reducing the running resistance.

As shown in FIGS. 13 to 14, the turntable assembly 5 has a disk shape and is composed of a circular lower turntable 51 and an upper turntable 53. The second worm gear 52 is evenly disposed between the lower turntable 51 and the upper turntable 53 in the outer circumferential direction, and the second worm gear 52 meshes with the groove on the middle slewing body 32 of the worm wheel assembly 3 to realize energy transmission. Preferably, the second worm gear 52 is also a rotatable spherical structure. A through hole 55 is provided in the middle of the turntable assembly 5 for connecting the fixed output shaft 4. As a specific embodiment, the lower turntable 51 and the upper turntable 53 are connected and fixed by a plurality of sixth bolts 54.

As shown in Fig. 15, the output shaft mounting assembly 6 is disc-shaped, centrally provided with a downwardly projecting cylindrical output mounting plate 61, and a second angular contact ball bearing 63 for mounting the output shaft 4. The mounting plate assembly 6 is further provided with three circumferentially evenly distributed deep groove ball bearings 62 for supporting the lower end of the rotary shaft 36. The deep groove ball bearing 62 cooperates with the second upper bearing 28 of the base 26 on the casing 2 to achieve axial positioning of the worm gear assembly 3. At the same time, the three worm gear assemblies 3 are meshed with the worm assembly 1 to effectively eliminate the flank clearance and the dynamic balance problem derived therefrom, thereby ensuring smooth operation of the device.

As shown in FIG. 16, the chassis assembly 7 is disc-shaped and includes a disk-shaped chassis 71 and a second thrust bearing 73 disposed in the middle of the chassis 71. The second thrust bearing 73 is for supporting the output mounting plate 61. The chassis assembly 7 is fixed to the worm base 17 of the worm assembly 1 by a seventh bolt 72.

As shown in FIG. 17 and FIG. 1, the output shaft 4 is a variable-diameter cylinder, and connects the first upper bearing 27 on the base 26 of the casing 2, the through hole in the middle of the turntable assembly 5, and the output shaft from top to bottom. The second angular contact ball bearing 63 on the mounting assembly 6 is in contact with the ball. As a specific embodiment, the output shaft 4 can be fixedly connected to the turntable assembly 5 by a key. Preferably, the output shaft 4 and the input shaft 11 can be arranged in a hollow structure, which is convenient for laying wires on the one hand, and can further make the overall structure of the device more compact and reasonable on the other hand.

The assembling manner of a transmission reduction device provided by the present invention is shown in FIG. 1 and FIG. 2. The worm assembly 1 is mounted and positioned on the lower base 23 of the casing 2 by a first angular contact ball bearing 22 and a first thrust bearing 21, and the chassis assembly 7 is fixedly coupled to the worm assembly 1 by a seventh bolt 72. On the worm base 17, the output shaft mounting assembly 6 is mounted on the chassis 71 via a second thrust bearing 73. The worm gear assembly 3 is provided in total, and the lower end is connected to the output shaft mounting plate 61 through the deep groove ball bearing 62. The worm gear assembly The upper end is connected to the upper base 26 via a second upper bearing 28, the worm gear assembly 3 is in meshing relationship with the worm assembly 1, and the lower end of the output shaft 4 is mounted on the output shaft mounting plate 61 via a second angular contact ball bearing 63. The upper end of the output shaft 4 is mounted on the upper base 26 by a second upper bearing 28 which is in meshing relationship with the intermediate swivel 32.

The working principle and process of a transmission reduction device provided by the present invention are as follows: after the power input is obtained by the first thrust bearing 21 and the first angular contact ball bearing 22 being mounted and positioned on the lower base 23, the worm assembly 1 is obtained. The first worm tooth 15 meshes with the first worm gear 34 of the worm gear assembly 3 and drives the three worm gear assemblies 3 to rotate to achieve the first stage of deceleration; the groove of the middle slewing body 32 of the worm gear assembly 3 is mounted on the output shaft 4 The turntable assembly 5 engages and drives the output shaft 4 to rotate to achieve the second stage of deceleration. Through two-stage deceleration, the transmission ratio of the transmission reducer, high torque, low friction loss and high precision operation are finally realized.

The above is a further detailed description of the present invention in connection with the specific preferred embodiments, and the specific embodiments of the present invention are not limited to the description. General technique for the technical field to which the present invention pertains The skilled person will be able to make a number of simple derivations or substitutions without departing from the spirit of the invention.

Claims

A transmission reduction device includes a worm assembly (1), a worm gear assembly (3) and an output shaft (4) disposed in a casing (2), and an input shaft (11) is further disposed on the worm assembly (1) , characterized in that: a plurality of worm gear teeth on the worm gear assembly (3) are embedded in the groove, and the worm gear teeth can move in the groove direction in the groove and drive the worm gear assembly under the driving of the worm assembly (1) (3) Rotation.
A transmission reduction gear transmission according to claim 1, wherein said groove is formed by a spiral groove provided on an outer surface of the worm wheel assembly (3) and a guide groove disposed inside and the like. Closed structure.
A transmission reduction device according to claim 1, wherein said worm gear teeth are spherical or approximately spherical.
A transmission reduction gear transmission according to claim 3, wherein said plurality of worm gear teeth are arranged in series in the groove to cover all the grooves.
A transmission reduction gear according to any one of claims 1 to 4, characterized in that the worm gear assembly (3) is combined by an approximately hemispherical lower worm gear body (31) and an upper worm gear body (33). The lower worm gear body (31) and the upper worm gear body (33) are each provided with a groove.
A transmission reduction gear transmission according to claim 5, wherein said worm assembly (1) comprises an input shaft (11), a lower casing (12), an upper casing (14) and a first worm gear ( 15), the lower casing (12) and the upper casing (14) are both approximately hemispherical and are put together to form an approximately spherical spherical cavity (16) for accommodating the worm gear assembly (3), and the lower casing ( 12) and the inner side of the upper casing (14) is provided with a first worm tooth (15) for use with the worm gear assembly (3), the first worm tooth (15) being a helical tooth.
A transmission reduction gear transmission according to claim 5, characterized in that the lower worm gear body (31) and the upper worm gear body (33) are further provided with a worm gear tooth body (39) for factory production assembly or During inspection, worm gear teeth are mounted in the grooves of the lower worm gear body (31) and the upper worm gear body (33).